Set antiwindup to true in this constructor specialization

ros-controls · Jul 18, 2024 · e29ebc1 · e29ebc1
1 parent 0603103
commit e29ebc1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/include/control_toolbox/pid.hpp b/include/control_toolbox/pid.hpp
@@ -125,7 +125,7 @@ class CONTROL_TOOLBOX_PUBLIC Pid
    * \throws An std::invalid_argument exception is thrown if i_min > i_max
    */
     Gains(double p, double i, double d, double i_max, double i_min)
-    : p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(false)
+    : p_gain_(p), i_gain_(i), d_gain_(d), i_max_(i_max), i_min_(i_min), antiwindup_(true)
     {
     }